I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l
E
ng
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
40
,
No
.
1
,
Octo
b
er
2
0
2
5
,
p
p
.
1
0
~
1
7
I
SS
N:
2
5
0
2
-
4
7
5
2
,
DOI
: 1
0
.
1
1
5
9
1
/ijeecs.v
40
.i
1
.
pp
1
0
-
1
7
10
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o
ur
na
l ho
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a
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e
:
h
ttp
:
//ij
ee
cs.ia
esco
r
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m
Path
p
la
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a
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using
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nt
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rticle
swa
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hi
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y:
R
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ed
Oct
15
,
2
0
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R
ev
is
ed
May
14
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2
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Acc
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ted
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Th
is
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le
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(M
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S
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to
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ti
m
ize
t
h
e
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rg
y
o
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ime
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o
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th
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t
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rise
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tee
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fin
-
ra
y
s
e
q
u
ip
p
e
d
to
a
fis
h
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o
b
o
t.
Th
e
m
a
i
n
o
b
jec
ti
v
e
is
t
o
o
b
tain
t
h
e
sh
o
r
t
e
st
p
a
th
f
o
r
t
h
e
fis
h
r
o
b
o
t
t
o
a
c
h
iev
e
th
e
d
e
sire
d
p
o
siti
o
n
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e
m
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imiz
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p
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we
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c
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n
su
m
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ti
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n
.
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e
p
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se
d
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-
P
S
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is
a
re
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e
n
t
g
e
n
e
ra
ti
o
n
o
f
p
a
rti
c
le
sw
a
rm
o
p
ti
m
iza
ti
o
n
(
P
S
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th
a
t
e
m
p
lo
y
s
th
e
re
m
o
v
a
l
o
f
th
e
wo
rst
p
a
rti
c
les
t
o
a
c
c
e
lera
te
th
e
sw
a
rm
,
e
n
a
b
li
n
g
p
a
rti
c
les
to
e
sc
a
p
e
lo
c
a
l
m
in
ima
a
n
d
imp
r
o
v
e
t
h
e
p
ro
p
u
lsiv
e
e
fficie
n
c
y
o
f
t
h
e
fish
ro
b
o
t.
S
im
u
latio
n
re
su
lt
s
d
e
m
o
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stra
te
th
a
t
th
e
d
e
v
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l
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d
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m
e
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les
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n
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re
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ti
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l
P
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O
a
n
d
g
e
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c
a
lg
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rit
h
m
(G
A).
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o
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o
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e
r,
th
e
M
-
P
S
O
wa
s
tes
ted
o
n
a
ro
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fish
n
a
v
ig
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n
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a
n
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n
m
e
n
t
c
h
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ra
c
teriz
e
d
b
y
c
o
m
p
lex
sp
a
ti
o
tem
p
o
ra
l
p
a
ra
m
e
ters
,
sh
o
wc
a
sin
g
it
s
su
p
e
rio
r
it
y
o
v
e
r
o
t
h
e
r
m
e
th
o
d
s
in
a
ll
c
a
se
stu
d
ies
.
K
ey
w
o
r
d
s
:
E
n
er
g
y
co
n
s
u
m
p
tio
n
Gen
etic
alg
o
r
ith
m
Par
ticle
s
war
m
o
p
tim
izatio
n
Path
p
lan
n
in
g
R
o
b
o
tic
f
is
h
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
T
h
i T
h
o
m
Ho
an
g
Dep
ar
tm
en
t o
f
E
lectr
ical
an
d
E
lectr
o
n
ic
E
n
g
i
n
ee
r
in
g
,
Nh
a
T
r
an
g
Un
iv
e
r
s
ity
No
.
2
,
Ng
u
y
en
Din
h
C
h
ieu
St.
,
Vin
h
Ng
u
y
en
,
Nh
a
T
r
an
g
,
Vi
etn
am
E
m
ail:
th
o
m
h
t@
n
tu
.
ed
u
.
v
n
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
au
to
n
o
m
o
u
s
u
n
d
er
wate
r
v
eh
icle
(
AUV)
h
as
b
ee
n
wid
ely
u
s
ed
in
v
ar
io
u
s
ar
ea
s
,
in
clu
d
i
n
g
d
iv
in
g
in
v
esti
g
atio
n
,
f
is
h
s
u
r
v
eillan
c
e,
s
u
b
m
ar
in
e
ca
b
le
in
s
tallatio
n
,
an
d
m
ea
s
u
r
in
g
tu
r
b
u
le
n
ce
in
th
e
th
er
m
o
clin
e.
B
io
n
ic
f
is
h
r
o
b
o
ts
,
also
k
n
o
wn
as
au
to
n
o
m
o
u
s
u
n
d
er
wate
r
v
eh
icles
,
p
o
s
s
ess
p
r
o
p
u
ls
iv
e
ab
ilit
y
an
d
ad
ap
tab
ilit
y
,
en
ab
lin
g
th
em
to
o
p
er
ate
with
g
r
ea
t
ef
f
i
cien
cy
an
d
h
ig
h
m
an
eu
v
er
a
b
ilit
y
in
co
m
p
lex
s
p
atio
tem
p
o
r
al
en
v
ir
o
n
m
en
ts
[
1
]
–
[
3
]
.
Un
d
e
r
wate
r
v
eh
icles
p
r
o
p
el
th
em
s
elv
es
th
r
o
u
g
h
w
ater
b
y
em
p
lo
y
in
g
v
ar
io
u
s
m
ea
n
s
o
f
p
r
o
p
u
ls
io
n
,
in
clu
d
in
g
a
s
tr
ea
m
,
a
p
r
o
p
eller
,
an
d
f
r
am
e
o
r
f
in
s
y
s
tem
[
4
]
.
C
o
n
s
eq
u
en
tly
,
th
is
p
r
o
p
u
ls
io
n
r
eq
u
ir
es
th
e
u
tili
za
tio
n
o
f
b
atter
y
-
s
u
p
p
lied
elec
tr
icity
.
Ho
wev
er
,
d
u
e
to
th
e
lim
itatio
n
s
o
f
b
atter
y
ca
p
ac
ity
,
r
ed
u
cin
g
th
e
en
er
g
y
co
s
t o
f
a
r
o
b
o
tic
f
is
h
p
o
s
es a
s
ig
n
if
ican
t c
h
allen
g
e
f
o
r
r
esear
ch
er
s
.
T
h
e
u
tili
za
tio
n
o
f
p
ath
s
with
m
in
im
u
m
p
o
wer
co
n
s
u
m
p
tio
n
h
as
b
ee
n
s
h
o
wn
to
s
ig
n
if
ican
tly
en
h
an
ce
th
e
s
wim
m
in
g
p
er
f
o
r
m
an
ce
o
f
th
e
r
o
b
o
tic
f
is
h
[
5
]
–
[
8
]
.
T
h
e
o
p
tim
izatio
n
o
b
jectiv
e
is
to
m
in
im
ize
b
o
th
th
e
tr
a
v
elin
g
tim
e
an
d
en
er
g
y
co
n
s
u
m
p
tio
n
r
e
q
u
ir
ed
to
r
ea
c
h
th
e
d
esire
d
tar
g
et.
Hu
an
d
Z
h
o
u
[
9
]
p
r
o
p
o
s
ed
,
a
m
o
d
el
b
ased
o
n
io
n
ic
p
o
ly
m
er
-
m
etal
co
m
p
o
s
ites
(
I
PMC
)
h
as
b
ee
n
p
r
o
p
o
s
ed
to
p
r
ed
ict
th
e
en
er
g
y
co
s
t
o
f
a
p
r
o
p
elled
f
is
h
r
o
b
o
t.
Ad
d
itio
n
ally
,
a
r
ea
l
-
tim
e
m
o
d
el
h
as
b
e
en
in
tr
o
d
u
ce
d
in
[
1
0
]
to
m
o
n
ito
r
an
d
m
an
ag
e
t
h
e
b
atter
y
u
s
ag
e
o
f
a
f
is
h
r
o
b
o
t
.
Z
h
u
et
a
l.
[
1
1
]
p
r
esen
t
an
en
er
g
y
c
o
n
v
e
r
s
io
n
ap
p
r
o
ac
h
th
at
co
n
v
er
ts
wav
e
en
er
g
y
in
t
o
elec
tr
icity
,
th
er
eb
y
r
ed
u
cin
g
th
e
p
o
wer
c
o
n
s
u
m
p
tio
n
o
f
a
f
is
h
r
o
b
o
t.
T
o
p
r
o
lo
n
g
th
e
life
s
p
an
o
f
a
n
ar
tific
ial
f
is
h
,
Sh
en
a
n
d
Gu
o
[
1
2
]
in
t
r
o
d
u
ce
f
u
zz
y
lo
g
ic
alg
o
r
ith
m
to
s
elec
t
a
cl
u
s
ter
h
ea
d
f
o
r
p
o
wer
o
p
tim
izatio
n
.
I
n
o
u
r
p
r
ev
i
o
u
s
r
esear
ch
[
1
3
]
,
we
in
v
esti
g
ated
th
e
u
s
e
o
f
r
ein
f
o
r
ce
m
en
t
lear
n
in
g
to
o
p
tim
ize
th
e
co
n
v
er
g
en
ce
s
p
ee
d
o
f
a
s
wim
m
in
g
g
ait
co
n
tr
o
ller
b
ased
o
n
ce
n
tr
al
p
atter
n
g
en
e
r
ato
r
(
C
PG
)
in
o
r
d
er
to
r
ed
u
c
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
P
a
th
p
la
n
n
in
g
o
f a
n
elo
n
g
a
ted
u
n
d
u
l
a
tin
g
fin
u
s
in
g
mu
ta
n
t
p
a
r
ticle
s
w
a
r
m
o
p
timiz
a
tio
n
(
Th
i Th
o
m
Ho
a
n
g
)
11
th
e
b
atter
y
-
s
u
p
p
lied
elec
tr
icity
f
o
r
th
e
f
is
h
r
o
b
o
t.
W
h
ile
th
e
af
o
r
em
en
tio
n
ed
m
eth
o
d
s
ar
e
ef
f
ec
tiv
e
in
m
o
n
ito
r
in
g
an
d
m
a
n
ag
in
g
th
e
en
er
g
y
co
n
s
u
m
p
tio
n
o
f
r
o
b
o
tic
f
is
h
,
t
h
ey
o
f
t
en
s
tr
u
g
g
le
to
s
o
lv
e
p
o
wer
o
p
tim
izatio
n
p
r
o
b
lem
s
th
at
in
v
o
lv
e
m
u
ltip
le
v
ar
iab
les
an
d
a
non
-
lin
ea
r
o
b
j
ec
tiv
e
f
u
n
ctio
n
.
T
o
a
d
d
r
ess
th
is
ch
allen
g
e,
ev
o
lu
tio
n
ar
y
alg
o
r
ith
m
s
h
av
e
b
ee
n
em
p
lo
y
ed
to
d
is
co
v
er
en
er
g
y
-
o
p
tim
al
tr
ajec
to
r
ies
f
o
r
b
io
-
m
i
m
etic
r
o
b
o
tic
f
is
h
[
1
4
]
–
[
1
7
]
.
Ng
u
y
en
et
a
l.
[
1
8
]
,
u
s
ed
th
e
p
ar
ticle
s
war
m
o
p
tim
izatio
n
(
PS
O)
alg
o
r
ith
m
t
o
o
p
t
im
ize
th
e
p
ar
am
eter
s
o
f
C
PG
i
n
o
r
d
er
to
im
p
r
o
v
e
th
e
p
r
o
p
u
ls
iv
e
f
o
r
ce
o
f
t
h
e
u
n
d
u
latin
g
f
in
,
r
esu
ltin
g
in
s
av
e
p
o
wer
c
o
n
s
u
m
p
tio
n
.
Ho
wev
er
,
a
m
ajo
r
d
r
awb
ac
k
o
f
th
e
m
etah
e
u
r
is
tics
is
th
eir
s
u
s
ce
p
tib
ilit
y
to
b
e
co
m
i
n
g
tr
ap
p
ed
in
lo
ca
l
m
in
im
a.
I
n
th
e
p
ap
e
r
,
a
n
o
v
el
v
ar
ian
t
o
f
PS
O
was
in
v
esti
g
ated
to
ad
d
r
ess
th
e
is
s
u
e
o
f
lo
ca
l
o
p
tim
izatio
n
an
d
d
eter
m
in
e
th
e
o
p
tim
u
m
p
ath
f
o
r
an
el
o
n
g
ated
u
n
d
u
latin
g
f
in
in
b
o
t
h
k
n
o
wn
an
d
u
n
k
n
o
wn
en
v
ir
o
n
m
e
n
ts
.
Sectio
n
2
in
tr
o
d
u
ce
s
an
en
er
g
y
m
o
d
el
f
o
r
th
e
r
o
b
o
tic
f
is
h
an
d
estab
lis
h
es
th
e
o
b
jectiv
e
f
u
n
ctio
n
.
I
n
s
ec
tio
n
3
,
we
p
r
esen
t
m
u
tan
t
p
ar
ticle
s
war
m
o
p
tim
izatio
n
alg
o
r
ith
m
(
M
-
PSO
)
,
a
s
tate
-
of
-
th
e
-
ar
t
PS
O
g
en
er
atio
n
,
an
d
its
ap
p
licatio
n
in
p
at
h
p
lan
n
in
g
f
o
r
th
e
s
ix
teen
-
f
i
n
r
o
b
o
t.
Sect
io
n
4
p
r
esen
ts
s
im
u
latio
n
r
esu
lts
an
d
a
c
o
m
p
a
r
ativ
e
an
aly
s
is
o
f
m
etah
e
u
r
is
tic
alg
o
r
ith
m
s
in
o
p
tim
izin
g
th
e
p
o
wer
co
n
s
u
m
p
tio
n
o
f
th
e
f
is
h
r
o
b
o
t
.
Fin
ally
,
s
ec
tio
n
5
p
r
o
v
id
es a
c
o
n
clu
s
io
n
.
2.
P
RO
B
L
E
M
D
E
SC
RIP
T
I
O
N
T
h
e
u
n
d
u
latin
g
f
in
s
tr
u
ctu
r
e
o
f
th
e
b
io
-
m
im
etic
r
o
b
o
tic
f
is
h
is
f
o
r
m
ed
b
y
co
n
n
ec
ti
n
g
s
ix
teen
n
eig
h
b
o
r
in
g
f
in
r
ay
s
with
a
f
le
x
ib
le
th
in
f
ilm
.
T
h
e
d
is
tan
ce
o
f
a
f
in
r
a
y
an
d
its
ad
jace
n
t o
n
e
is
3
2
m
m
,
an
d
th
e
f
in
wid
th
m
ea
s
u
r
es 1
5
0
m
m
.
T
h
e
C
AD
m
ec
h
an
ical
d
esig
n
o
f
th
e
f
is
h
r
o
b
o
t is d
ep
icted
i
n
Fig
u
r
e
1
[
1
9
].
Fig
u
r
e
1
.
C
AD
m
o
d
el
o
f
th
e
f
is
h
r
o
b
o
t
Six
teen
f
in
r
ay
s
ar
e
co
n
tr
o
lled
b
y
s
ix
teen
r
ad
io
c
o
n
tr
o
l
(
R
C
)
s
er
v
o
m
o
to
r
s
.
T
h
e
elec
tr
ica
l
-
d
y
n
am
ic
m
o
d
el
o
f
a
m
o
to
r
is
ex
p
r
ess
ed
as [
2
0
]
:
=
−
−
2
+
(
1
)
2
=
−
(
2
)
wh
er
e
an
d
ar
e
th
e
ar
m
atu
r
e
in
d
u
ctan
ce
an
d
r
esis
tan
ce
o
f
th
e
s
er
v
o
m
o
to
r
,
r
esp
ec
tiv
ely
;
is
th
e
co
n
tr
o
l v
o
ltag
e
s
u
p
p
lied
to
th
e
ar
m
atu
r
e
co
m
p
o
n
en
t o
f
th
e
m
o
to
r
;
d
en
o
tes th
e
m
o
to
r
to
r
q
u
e
f
ac
to
r
;
is
th
e
an
g
u
lar
v
elo
city
o
f
th
e
s
er
v
o
m
o
to
r
;
is
th
e
in
er
tia
to
r
q
u
e
o
f
th
e
m
o
t
o
r
s
h
af
t
a
n
d
f
i
n
r
ay
;
is
th
e
ex
ter
n
al
lo
ad
to
r
q
u
e
in
d
u
ce
d
b
y
th
e
a
m
b
ien
t im
p
ac
t a
f
f
ec
tin
g
th
e
f
in
r
ay
.
Sin
ce
th
e
v
alu
e
o
f
th
e
a
r
m
atu
r
e
in
d
u
ctan
ce
is
m
u
ch
less
th
an
th
at
o
f
th
e
ar
m
atu
r
e
r
esis
tan
ce
(
L
≪
R
)
,
In
(
1
)
ca
n
b
e
ap
p
r
o
x
im
ate
d
b
y
:
=
+
2
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
40
,
No
.
1
,
Octo
b
er
20
25
:
1
0
-
1
7
12
T
h
e
ex
ter
n
al
l
o
ad
to
r
q
u
e
an
d
t
h
e
p
r
o
p
u
ls
iv
e
f
o
r
ce
g
e
n
er
ated
b
y
ea
ch
f
in
-
r
a
y
ca
n
b
e
d
ef
i
n
ed
as
[
2
0
]
:
=
.
5
.
(
0
)
.
|
|
.
(
4
)
=
.
4
.
(
0
)
.
|
|
.
(
5
)
wh
er
e
is
th
e
s
p
ec
if
ic
g
r
av
ity
o
f
f
lu
id
,
is
th
e
th
ick
n
ess
o
f
ea
ch
f
in
-
r
a
y
,
is
th
e
to
r
q
u
e
co
e
f
f
icien
t
o
f
th
e
f
in
-
r
ay
,
an
d
0
is
th
e
p
r
o
p
u
ls
io
n
r
ate.
Gen
er
ally
,
th
e
en
e
r
g
y
co
n
s
u
m
p
tio
n
o
f
ea
ch
R
C
s
er
v
o
m
o
to
r
i
s
ca
lcu
lated
as:
=
.
=
2
+
2
=
1
+
2
(
6
)
wh
er
e
is
th
e
elec
tr
icity
u
s
ed
b
y
R
C
s
er
v
o
m
o
to
r
;
1
=
2
is
th
e
l
o
s
s
p
o
wer
b
ec
au
s
e
o
f
th
e
ar
m
atu
r
e
r
esis
tan
ce
;
2
=
2
is
th
e
p
o
wer
co
n
v
er
ted
to
m
ec
h
an
ical
en
er
g
y
.
Sin
ce
1
≪
2
,
1
≈
0
.
In
(
6
)
ca
n
b
e
r
ewr
itten
as f
o
ll
o
ws:
=
.
≈
2
(
7
)
Fro
m
(
2
)
:
=
2
̇
+
(
8
)
Su
b
s
titu
tin
g
(
8
)
in
t
o
(
7
)
,
it y
iel
d
s
:
=
3
+
4
=
(
2
)
2
.
.
.
̇
+
2
.
(
9
)
I
t
ca
n
b
e
o
b
s
er
v
e
d
f
r
o
m
(
9
)
th
at
3
is
th
e
p
o
wer
r
eq
u
ir
ed
f
o
r
t
h
e
ac
ce
ler
atio
n
o
f
th
e
f
in
-
ra
y
s
,
an
d
4
is
th
e
lo
s
s
p
o
wer
p
r
o
d
u
ce
d
b
y
th
e
in
ter
ac
tio
n
b
etwe
en
th
e
f
in
-
r
ay
s
an
d
f
u
id
.
T
h
e
lo
s
s
p
o
wer
o
f
ℎ
R
C
s
er
v
o
m
o
to
r
ca
n
b
e
ap
p
r
o
x
im
ately
c
alcu
lated
as:
=
2
.
.
=
2
.
.
5
.
(
0
)
.
(
)
2
|
|
(
1
0
)
Usi
n
g
(
5
)
,
(
9
)
,
an
d
(
1
0
)
th
e
en
er
g
y
co
n
s
u
m
p
tio
n
o
f
th
e
ℎ
f
in
r
ay
ca
n
b
e
co
n
s
id
er
ed
as a
f
u
n
c
tio
n
o
f
th
e
th
r
u
s
t
f
o
r
ce
:
=
2
(
0
)
√
|
(
0
)
|
1
.
5
|
|
1
.
5
(
1
1
)
wh
er
e
is
th
e
p
r
o
p
u
ls
iv
e
f
o
r
ce
o
f
th
e
ℎ
f
in
-
r
ay
.
An
en
er
g
y
o
p
tim
izatio
n
p
r
o
b
lem
ca
n
b
e
p
o
s
ed
as
m
in
im
i
zin
g
th
e
f
o
llo
win
g
en
er
g
y
co
n
s
u
m
p
tio
n
f
u
n
ctio
n
:
0
=
α
∫
∑
|
|
1
.
5
16
i
=
0
t
f
t
0
dt
(
1
2
)
wh
er
e
0
an
d
is
in
itial a
n
d
f
in
al
tim
e
to
f
in
d
a
t
r
ajec
to
r
y
;
=
2
(
0
)
√
|
(
0
)
|
1
.
5
=
3.
AP
P
L
I
CA
T
I
O
N
M
-
P
SO
F
O
R
P
AT
H
P
L
ANN
I
NG
O
F
B
I
O
M
I
M
E
T
I
C
RO
B
O
T
T
h
is
s
ec
tio
n
s
tar
ts
with
th
e
i
n
s
p
ir
atio
n
o
f
o
n
e
o
f
th
e
well
-
k
n
o
wn
s
war
m
in
tellig
en
ce
t
ec
h
n
iq
u
es
ca
lled
PS
O.
Fo
llo
win
g
th
at,
a
n
o
v
el
v
ar
ian
t
o
f
PS
O,
n
am
el
y
m
u
tan
t
p
ar
ticle
s
war
m
o
p
ti
m
izatio
n
(M
-
PS
O)
,
h
as b
ee
n
p
r
o
p
o
s
ed
in
o
r
d
er
t
o
im
p
r
o
v
e
th
e
non
-
lin
ea
r
o
p
tim
a
l so
lu
tio
n
s
.
Fin
ally
,
th
e
p
r
o
p
o
s
ed
M
-
PS
O
m
eth
o
d
h
as b
ee
n
em
p
l
o
y
ed
t
o
r
ec
o
g
n
i
ze
th
e
en
er
g
y
-
ef
f
icien
t tr
ajec
to
r
y
f
o
r
a
b
io
m
im
etic
r
o
b
o
t.
3
.
1
.
T
he
m
uta
nt
P
SO
PSO
wa
s
f
ir
s
t
p
r
o
p
o
s
ed
b
y
Ken
n
ed
y
an
d
E
b
er
h
ar
t
in
1
9
9
5
as
a
s
war
m
in
tellig
en
ce
alg
o
r
ith
m
in
s
p
ir
ed
b
y
t
h
e
s
o
cial
a
n
d
co
g
n
itiv
e
b
eh
a
v
io
r
o
f
an
im
al
s
p
ec
ies
s
u
ch
as
f
is
h
o
r
b
ir
d
s
[
2
1
]
–
[
2
3
]
.
Acc
o
r
d
in
g
to
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
P
a
th
p
la
n
n
in
g
o
f a
n
elo
n
g
a
ted
u
n
d
u
l
a
tin
g
fin
u
s
in
g
mu
ta
n
t
p
a
r
ticle
s
w
a
r
m
o
p
timiz
a
tio
n
(
Th
i Th
o
m
Ho
a
n
g
)
13
th
e
p
r
o
b
lem
h
y
p
o
th
esis
,
ea
ch
i
n
d
iv
id
u
al
h
as
a
p
o
s
itio
n
,
v
elo
c
ity
,
an
d
a
c
o
m
m
u
n
icatio
n
c
h
a
n
n
el.
E
ac
h
p
a
r
ticle
ar
b
itra
r
ily
"f
lies
"
p
ass
a
s
ee
k
in
g
en
v
ir
o
n
m
en
t
with
m
u
ltip
le
d
im
en
s
io
n
s
,
ev
alu
atin
g
its
p
o
s
itio
n
r
elativ
e
to
a
n
o
b
jectiv
e
f
u
n
ctio
n
at
ea
ch
iter
atio
n
.
T
h
e
n
ex
t
lo
ca
tio
n
o
f
p
a
r
ticle
is
d
eter
m
in
ed
b
y
co
n
s
id
er
in
g
b
o
th
its
o
wn
b
est
p
o
s
itio
n
an
d
th
e
b
est
p
o
s
itio
n
o
f
th
e
p
ar
ticle
with
in
i
ts
n
eig
h
b
o
r
h
o
o
d
.
Ma
th
em
atic
ally
,
th
ese
u
p
d
ate
d
p
o
s
itio
n
s
f
o
r
ea
ch
p
ar
ticle
in
th
e
s
ee
k
in
g
en
v
ir
o
n
m
en
t
ca
n
b
e
r
ep
r
esen
ted
u
s
in
g
th
e
f
o
llo
win
g
p
air
o
f
alg
eb
r
aic
eq
u
ati
o
n
s
[
2
4
]
,
[
2
5
]
.
,
+
1
=
.
,
+
1
.
1
(
,
−
,
)
+
2
.
2
(
−
,
)
(
1
3
)
,
+
1
=
,
+
,
+
1
(
1
4
)
wh
er
e
1
an
d
2
ar
e
two
ac
ce
ler
ati
o
n
co
f
f
icien
ts
,
1
an
d
2
ar
e
two
r
an
d
o
m
n
u
m
b
er
s
with
t
h
e
v
al
u
e
in
[
0
1
]
;
wh
er
ea
s
is
an
in
er
tia
weig
h
t.
I
n
(
1
3
)
,
,
is
th
e
b
es
t
ℎ
co
m
p
o
n
e
n
t
o
f
ℎ
p
ar
ticle,
wh
er
ea
s
is
th
e
ℎ
co
m
p
o
n
en
t
o
f
th
e
b
est p
ar
ticle
o
f
s
war
m
u
p
to
iter
atio
n
.
I
t
is
also
o
b
s
er
v
ed
f
r
o
m
(
1
3
)
t
h
at
th
e
v
elo
city
o
f
ea
ch
in
d
iv
i
d
u
al
d
ec
r
ea
s
es
af
ter
a
p
ar
ticu
l
ar
n
u
m
b
er
o
f
ite
r
atio
n
s
.
As
a
r
esu
lt,
it
b
ec
o
m
es
ch
allen
g
in
g
f
o
r
th
e
p
ar
ticles
to
u
n
d
er
g
o
s
ig
n
if
ica
n
t
ch
an
g
es
in
th
ei
r
p
o
s
itio
n
,
wh
ich
ca
n
lead
to
g
ettin
g
tr
ap
p
ed
in
lo
ca
l
o
p
tim
a
.
T
o
ad
d
r
ess
th
is
is
s
u
e,
a
m
o
r
e
r
ec
en
t
v
ar
ian
t
o
f
PS
O,
ca
lled
M
-
PS
O,
h
as b
ee
n
in
tr
o
d
u
ce
d
with
th
e
aim
o
f
en
h
an
cin
g
t
h
e
in
d
iv
i
d
u
als'
ac
ce
le
r
atio
n
.
I
n
f
ac
t,
th
e
M
-
PS
O
will
r
ep
lac
es
th
e
wo
r
s
t
p
ar
ticles
b
y
th
e
m
u
tan
t
p
ar
ticles
th
at
is
r
a
n
d
o
m
ly
f
o
r
m
ed
b
y
ch
o
o
s
in
g
th
e
co
m
p
o
n
en
ts
o
f
in
d
iv
id
u
als
o
f
th
e
o
r
ig
in
al
PS
O.
T
h
e
v
ec
to
r
o
f
m
u
tan
t
c
o
m
p
o
n
en
t
h
as
th
e
s
ize
s
im
ilar
to
ea
ch
in
d
iv
id
u
al,
k
n
o
wn
as
.
Fo
r
a
p
o
p
u
latio
n
o
f
,
wh
er
e
is
th
e
s
wam
’
s
s
ize
an
d
is
th
e
n
u
m
b
er
o
f
d
im
e
n
s
io
n
s
o
f
ea
ch
i
n
d
iv
id
u
al,
ca
n
b
e
f
o
r
m
ed
as f
o
llo
ws:
Fo
r
=
1
:
_
=
(
(
,
1
)
,
)
en
d
wh
er
e
(
,
1
)
is
a
f
u
n
ctio
n
u
n
i
f
o
r
m
ly
g
en
er
atin
g
a
n
in
teg
e
r
in
th
e
r
a
n
g
e
o
f
[
0
]
.
3
.
2
.
Appl
ica
t
io
n M
-
P
SO
f
o
r
pa
t
h pla
nn
ing
o
f
a
bio
m
im
et
ic
ro
bo
t
T
h
e
p
r
o
p
o
s
ed
M
-
PS
O
alg
o
r
ith
m
to
f
in
d
th
e
o
p
tim
u
m
r
o
u
te
f
o
r
a
f
is
h
-
lik
e
r
o
b
o
t
is
ex
p
r
ess
ed
b
y
th
e
f
o
llo
win
g
s
tep
s
in
Alg
o
r
ith
m
1
:
Alg
o
r
ith
m
1
.
Ap
p
licatio
n
M
-
P
SO
Step 1:
s
et
,
1
,
2
and initialize the propulsive force
(
)
St
ep
2:
c
alculate
the
sta
te
all
particles
of
the
s
warm
using
initialized
po
sitions
of
each
particle
(
)
in
∈
(
0
,
)
.
St
ep
3:
c
alculate
the
f
it
ness
function
by
Eq.
(1
1)
for
all
particles
of
the
swarm,
and
then
as
se
ss
th
e
ob
je
ct
iv
e
fu
nc
ti
on
of
ea
ch
in
di
vi
du
al
=
(
)
,
∀
,
th
e
be
st
pa
rt
ic
le
in
de
x
is
obtained as
Step 4:
s
elect
_
=
,
∀
and
=
Step 5:
s
et iteration number
=
1
Step 6:
t
he velocity and position of each particle are renewed by Eqs. (13) and (14)
St
ep
7:
a
ss
es
s
th
e
up
da
te
d
ob
je
ct
iv
e
fu
nc
ti
on
of
ea
ch
in
di
vi
du
al
+
1
=
(
+
1
)
,
∀
an
d
th
e
best particle index is recognized as
1
Step 8:
u
pdate
of each particle
∀
If
+
1
<
then
_
+
1
=
+
1
else
_
+
1
=
_
Update
of population and the corresponding particle of
If
+
1
<
then
_
+
1
=
+
1
where
=
(
)
Update
of population
If
1
+
1
<
then
+
1
<
_
1
+
1
and set
=
1
else
+
1
<
Step 9:
i
f
<
then
=
+
1
and go to step 6 else go to step 10
Step 10:
o
btain the optimum energy consumption as
4.
RE
SU
L
T
AND
DI
SCUS
SI
O
N
I
n
th
is
s
ec
tio
n
,
t
h
e
en
er
g
y
o
p
tim
izatio
n
m
eth
o
d
s
a
r
e
em
p
lo
y
ed
o
n
a
s
ix
teen
-
f
in
r
o
b
o
tic
f
is
h
with
a
k
in
em
atic
co
o
r
d
i
n
ate
s
y
s
tem
as
illu
s
tr
ated
in
Fig
u
r
e
2
.
Her
e,
r
ep
r
esen
ts
th
e
len
g
th
o
f
a
f
in
r
ay
,
(
=
1
,
2
,
3
,
…
,
16
)
is
th
e
jo
in
t
attac
k
in
g
p
o
i
n
t,
a
n
d
ℎ
p
r
esen
ts
ea
c
h
f
in
r
ay
’
s
ce
n
tr
o
id
.
T
h
e
f
in
r
ay
s
ar
e
c
o
n
n
e
cted
ea
ch
o
th
er
b
y
th
e
o
r
ig
i
n
o
f
t
h
e
ax
is
co
o
r
d
i
n
ate
s
y
s
tem
.
Ass
u
m
in
g
th
at
th
e
u
n
d
u
latin
g
f
in
s
wim
s
1
0
m
in
t
h
e
X
d
i
r
ec
tio
n
,
4
m
in
th
e
Y
d
ir
ec
tio
n
with
th
e
f
ix
ed
v
alu
e
in
th
e
Z
d
ir
ec
ti
o
n
,
z=
1
0
m
.
T
h
e
o
p
er
atin
g
p
e
r
io
d
o
f
th
e
s
y
s
tem
is
1
0
s
f
r
o
m
th
e
in
itial
tim
e.
Usi
n
g
R
u
n
g
e
-
Ku
tta
4
th
m
eth
o
d
f
o
r
c
alcu
latin
g
p
er
f
o
r
m
an
ce
in
d
ex
,
s
tate,
an
d
co
s
t,
th
e
b
io
n
ic
r
o
b
o
t
-
f
is
h
co
n
s
u
m
es
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
40
,
No
.
1
,
Octo
b
er
20
25
:
1
0
-
1
7
14
4
1
3
.
2
5
2
W
to
r
ea
ch
th
e
d
esir
ed
tar
g
et.
H
o
wev
er
,
th
e
en
e
r
g
y
co
n
s
u
m
p
tio
n
r
ed
u
ce
s
to
4
1
0
.
9
2
7
W
af
te
r
u
s
in
g
th
e
M
-
PS
O
alg
o
r
ith
m
.
T
h
e
o
p
t
im
al
r
o
u
te
is
co
m
p
u
ted
b
y
u
s
i
n
g
M
-
PS
O
is
s
h
o
wn
in
Fig
u
r
e
3
.
Fig
u
r
e
2.
Dy
n
am
ic
co
o
r
d
in
ate
s
y
s
tem
o
f
th
e
s
ix
teen
-
f
in
f
is
h
r
o
b
o
t
T
ab
le
1
g
iv
es
a
c
o
m
p
ar
is
o
n
o
f
th
e
d
if
f
e
r
en
t
m
etah
e
u
r
is
tic
alg
o
r
ith
m
s
in
ter
m
o
f
asp
ec
ts
s
u
ch
as
th
e
to
tal
o
f
en
er
g
y
co
n
s
u
m
p
tio
n
,
th
e
p
o
s
itio
n
o
f
th
e
test
ed
r
o
b
o
t.
I
t
ca
n
b
e
s
ee
n
f
r
o
m
T
ab
le
1
th
at
th
r
ee
s
war
m
in
tellig
en
ce
alg
o
r
ith
m
s
ar
e
ca
p
ab
le
o
f
o
p
tim
izin
g
th
e
en
er
g
y
co
n
s
u
m
p
tio
n
.
Ho
wev
er
,
th
e
p
r
o
p
o
s
ed
M
-
PS
O
m
eth
o
d
c
o
n
s
u
m
es
th
e
m
in
i
m
u
m
b
atter
y
u
s
ag
e
(
4
1
0
.
9
2
7
W
)
co
m
p
ar
i
n
g
to
th
e
g
en
e
tic
alg
o
r
ith
m
(
GA
)
(
4
1
1
.
2
3
6
W
)
an
d
PS
O
(
4
1
1
.
0
4
2
W
)
.
Fu
r
th
er
m
o
r
e,
th
e
M
-
PS
O
also
f
in
d
s
h
o
r
ter
p
ath
f
o
r
th
e
b
io
-
m
im
ic
r
o
b
o
tic
f
is
h
,
at
p
o
in
t (
9
.
9
3
5
2
,
4
.
0
2
4
9
2
)
,
to
r
ea
c
h
th
e
d
esire
d
tar
g
et.
Fig
u
r
e
3
.
T
h
e
n
ea
r
-
o
p
tim
al
tr
a
jecto
r
y
em
p
lo
y
ed
b
y
M
-
PSO
T
ab
le
1
.
R
esu
lts
o
f
en
er
g
y
co
n
s
u
m
p
tio
n
b
y
u
s
in
g
th
r
ee
d
if
f
er
en
t o
p
tim
izer
s
A
l
g
o
r
i
t
h
m
P
o
si
t
i
o
n
(
m)
En
e
r
g
y
(
W
)
GA
(
1
0
.
3
4
0
8
,
3
.
8
2
6
4
1
)
4
1
1
.
2
3
6
PSO
(
1
0
.
1
9
4
3
,
4
.
1
1
2
4
)
4
1
1
.
0
4
2
M
-
PSO
(
9
.
9
3
5
2
,
4
.
0
2
4
9
2
)
4
1
0
.
9
2
7
T
o
d
em
o
n
s
tr
ate
th
e
s
u
p
er
io
r
it
y
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
in
s
o
lv
in
g
th
e
o
p
tim
izatio
n
p
r
o
b
lem
s
,
th
e
p
o
wer
co
n
s
u
m
p
tio
n
is
co
n
s
id
er
ed
as
th
e
r
o
b
o
tic
f
is
h
s
wim
s
in
an
u
n
k
n
o
wn
e
n
v
ir
o
n
m
en
t,
ch
ar
ac
ter
ized
b
y
a
co
m
p
lex
an
d
s
tr
o
n
g
c
u
r
r
en
t
th
at
s
ig
n
if
ican
tly
ef
f
ec
ts
o
n
its
r
o
u
te.
T
h
ese
in
f
l
u
en
ce
s
ar
e
ass
u
m
ed
as
a
l
u
m
p
ed
en
er
g
y
d
is
tu
r
b
an
ce
t
h
at
ca
n
b
e
m
o
d
elled
b
y
:
(
)
=
{
2
|
|
≤
0
ℎ
(
1
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
P
a
th
p
la
n
n
in
g
o
f a
n
elo
n
g
a
ted
u
n
d
u
l
a
tin
g
fin
u
s
in
g
mu
ta
n
t
p
a
r
ticle
s
w
a
r
m
o
p
timiz
a
tio
n
(
Th
i Th
o
m
Ho
a
n
g
)
15
wh
er
e
E
Δ
(
t)
r
ep
r
esen
ts
th
e
ele
ctr
icity
co
n
s
u
m
ed
b
y
th
e
s
o
u
r
ce
at
a
p
o
s
itio
n
lo
ca
ted
at
a
d
is
tan
ce
f
r
o
m
it.
T
h
e
co
ef
f
icien
t
is
a
co
n
s
tan
t,
an
d
d
en
o
tes
th
e
m
a
x
im
u
m
r
ad
iu
s
with
in
wh
ich
th
e
en
e
r
g
y
f
r
o
m
s
o
u
r
ce
h
as a
n
ef
f
ec
tiv
e
in
f
lu
en
ce
.
I
n
ter
m
o
f
a
co
m
p
licated
en
v
i
r
o
n
m
en
t,
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
u
s
ed
to
f
in
d
th
e
s
h
o
r
test
r
o
u
te
with
m
in
im
izin
g
th
e
b
atter
y
u
s
ag
e.
I
t m
ea
n
s
th
e
f
o
llo
win
g
o
b
jectiv
e
f
u
n
ctio
n
n
ee
d
to
b
e
m
in
im
i
ze
d
:
0
=
∫
∑
|
|
1
.
5
+
∑
(
)
=
1
16
=
1
0
(
1
6
)
wh
er
e
is
th
e
m
ax
im
u
m
n
u
m
b
er
o
f
th
e
en
er
g
y
s
o
u
r
ce
s
in
th
e
en
v
ir
o
n
m
en
t.
Ass
u
m
in
g
th
e
f
is
h
r
o
b
o
t
m
o
v
es
1
0
m
i
n
x
d
ir
ec
tio
n
an
d
4
m
in
y
d
ir
ec
tio
n
with
in
1
0
s
.
T
h
e
n
ea
r
-
o
p
tim
al
tr
ajec
to
r
y
o
b
tain
ed
b
y
u
s
in
g
th
e
GA,
PS
O
an
d
M
-
PS
O
o
p
tim
izer
s
is
s
h
o
wn
in
Fig
u
r
e
4
.
Fro
m
Fig
u
r
e
4
,
we
ca
n
s
ee
th
r
ee
s
w
ar
m
in
tellig
en
ce
tech
n
iq
u
es
all
ca
n
s
ee
k
ap
p
r
o
p
r
iately
s
im
ilar
o
p
tim
al
p
ath
s
in
a
co
m
p
lex
en
v
ir
o
n
m
en
t.
T
o
ac
h
iev
e
d
esire
d
g
o
al;
n
ev
er
t
h
eless
,
th
e
M
-
PS
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
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